/*
 * Copyright (c) 2011-2025, The DART development contributors
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 */

#pragma once

#include <dart8/frame/frame.hpp>

#include <Eigen/Dense>
#include <Eigen/Geometry>

namespace dart8 {

/// FixedFrame - fixed offset from parent frame
///
/// A FixedFrame is rigidly attached to a parent frame with a fixed
/// offset. It has zero velocity and acceleration relative to its parent.
/// It inherits from Frame to provide coordinate frame functionality.
///
/// Use cases:
/// - Rigidly mounted sensors
/// - Attachment points on links
/// - Fixed coordinate frames for collision geometries
/// - End-effector frames
///
/// DART6 equivalent: FixedFrame
class DART8_API FixedFrame : public Frame,
                             public EntityObjectWith<
                                 TagComps<comps::FixedFrameTag>,
                                 ReadOnlyComps<>,
                                 WriteOnlyComps<>,
                                 ReadWriteComps<comps::FixedFrameProperties>>
{
public:
  /// Constructor (package-private, use World::addFixedFrame)
  FixedFrame(entt::entity entity, World* world);

  //--------------------------------------------------------------------------
  // Transform API
  //--------------------------------------------------------------------------

  /// Set the fixed local transform offset
  ///
  /// @param transform New fixed transform offset from parent frame
  void setLocalTransform(const Eigen::Isometry3d& transform);

  /// Get the fixed local transform offset
  ///
  /// @return Transform offset from parent frame (local)
  [[nodiscard]] const Eigen::Isometry3d& getLocalTransform() const;
};

} // namespace dart8
